为了实现对绝对不稳定的非线性多变量倒立摆系统的控制,采用了状态反馈极点配置和LQR控制2种方法.状态反馈极点配置是将多变量系统的闭环系统极点配置在期望的位置上,从而使系统满足瞬态和稳态性能指标.LQR算法是在一定的性能指标下,利用最少的控制能量,来达到最小的状态误差.通过Matlab软件仿真实验,发现2种控制方法对于倒立摆这种不稳定的系统有一定的控制作用,证明了两种控制方案的可行性和有效性.仿真表明二次型最优控制有较小的振荡和超调量,对系统有更好的控制效果.%The state feedback pole placement and LQR controller are adopted to control the inverted pendulum system which is absolute unstable nonlinear multivariable. The state feedback pole placement is to set the closed-loop system poles of multivariable systems on the desired position to make the system satisfy the performance indexes in transient state and steady state. LQR algorithm uses the least control energy under certain performance index to achieve the smallest state errors.Through the simulation experiment with Matlab software, it is discovered that the two methods have some control effect to this unstable inverted pendulum system. It proves that the two methods are feasible and efficient. Simulation shows that the quadratic optimal control has smaller oscillation and overshoot, and the system has better control effect.
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